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Updated: Feb 8, 2026

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Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle

Marek Wartenberg1, Joseph Schornak2, Katie Gandomi2

  • 1Robotics Engineering, Worcester Polytechnic Institute, 85 Prescott St., Worcester, MA, 10605, USA. marek.wartenberg@wpi.edu.

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|June 22, 2018
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Summary

This study introduces closed-loop active compensation for needle biopsy, improving targeting accuracy in medical procedures. This robotic-assisted method maintains physician control while enhancing precision, achieving an average accuracy of 3.56 mm.

Keywords:
Image-guided therapyMedical roboticsNeedle steeringTeleoperation

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Area of Science:

  • Medical Robotics
  • Surgical Navigation
  • Biomedical Engineering

Background:

  • Traditional needle biopsy lacks compensation for needle deflection and target shift during intra-operative imaging.
  • Uncorrected trajectory deviations lead to reduced targeting accuracy in minimally invasive procedures.

Purpose of the Study:

  • To evaluate closed-loop active compensation for enhancing needle biopsy accuracy.
  • To compare autonomous robotic control with physician-directed cooperative control for needle insertion.
  • To assess the system's ability to compensate for target shifts during procedures.

Main Methods:

  • Utilized closed-loop image-guided compensation with an asymmetric needle tip for rotational control.
  • Performed needle insertions using an 18G needle under both fully autonomous and user-directed cooperative control.
  • Introduced target shifts (1-10 mm) upon needle contact to test compensation limits.

Main Results:

  • Demonstrated equivalent accuracy improvement in both autonomous and cooperative control modes (average targeting accuracy of 3.56 mmrms).
  • No statistically significant difference in targeting accuracy was observed between autonomous and cooperative insertion sets (p > 0.05).
  • The system effectively compensated for target shifts up to the mechanical bending limits of the needle.

Conclusions:

  • Closed-loop active compensation significantly enhances targeting accuracy in needle-guided procedures.
  • Physician-in-the-loop control can be maintained while benefiting from robotic accuracy improvements.
  • The developed system offers a viable solution for improving precision in image-guided needle interventions.